Are the values from your methods out of range? Have you ever wanted to limit a number? The Utility(TM) class is for you! Limit a value before sending it to a motor or servo with motorLimit(v) and servoLimit(v)! Limit a value to ±N with mirrorLimit(v, N)! Or go plain and simple with a good old limit(v, A, B) function. The possibilities are limitless!
But wait -- there's more! Now joining us are some new methods! These methods are great for joining arrays OR lists of ANY type! Just pass in the array or list and a delimiter and you are good to go. Don't wait to sign up -- if you join today, you get a FREE 2-week trial -- for FREE!
ftc/electronvolts/util/Utility.java
package ftc.electronvolts.util;
import java.util.Collection;
/**
* This file was made by the electronVolts, FTC team 7393 Date Created: 2/17/16
*/
public class Utility {
/**
* limits the value to be between a and b
*
* @param input the value to be limited
* @param a one end of the range
* @param b the other end of the range
* @return the input limited to the range between a and b
*/
public static double limit(double input, double a, double b) {
if (a == b) return a; // if the ends of the range are equal
// set min and max to a and b, making sure that min < max
double min = a, max = b;
if (a > b) {
min = b;
max = a;
}
// limit the input to be min < input < max
if (input > max) return max;
if (input < min) return min;
return input;
}
/**
* a limit function where min = -max
*
* @param input the value to be limited
* @param max the max absolute value
* @return the input limited to be between -max to max
*/
public static double mirrorLimit(double input, double max) {
return limit(input, -max, max);
}
/**
* Limiting function for motor power
*
* @param input the value to be limited
* @return the input limited to the range from -1 to 1
*/
public static double motorLimit(double input) {
return mirrorLimit(input, 1);
}
/**
* Limiting function for servo positions
*
* @param input the value to be limited
* @return the input limited to the range from 0 to 1
*/
public static double servoLimit(double input) {
return limit(input, 0, 1);
}
/**
* Join a list of objects with a separator
*
* @param list the list of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static <T> String join(Collection<T> list, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (T item : list) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of booleans with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(boolean[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (boolean item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of bytes with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(byte[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (byte item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of chars with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(char[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (char item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of shorts with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(short[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (short item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of ints with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(int[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (int item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of longs with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(long[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (long item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of floats with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(float[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (float item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
/**
* Join an array of doubles with a separator
*
* @param array the array of values
* @param separator the String to put between the values
* @return a String of the joined items
*/
public static String join(double[] array, String separator) {
StringBuilder sb = new StringBuilder();
boolean first = true;
for (double item : array) {
if (first) {
first = false;
} else {
sb.append(separator);
}
sb.append(item);
}
return sb.toString();
}
}